Adding JointGroupVelocityControllers (#224)

* Adding JointGroupVelocityControllers.

* Correction re. ros_control in Readme. Add velocity_controllers dependency.

README.md

@@ -122,7 +122,7 @@ The position based controller *should* stay closer to the commanded path, while
 
 **Note** that the PID values are not optimally tweaked as of this moment.
 
-To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following
+To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following:
 
 ```yaml
 controller_list:

config/ur10_controllers.yaml

@@ -87,3 +87,13 @@ vel_based_pos_traj_controller:
    # action_monitor_rate: 20 # Defaults to 20
    #hold_trajectory_duration: 0 # Defaults to 0.5
 
+# Pass an array of joint velocities directly to the joints
+joint_group_vel_controller:
+   type: velocity_controllers/JointGroupVelocityController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint

config/ur3_controllers.yaml

@@ -94,3 +94,14 @@ vel_based_pos_traj_controller:
    # state_publish_rate:  50 # Defaults to 50
    # action_monitor_rate: 20 # Defaults to 20
    #hold_trajectory_duration: 0 # Defaults to 0.5
+
+# Pass an array of joint velocities directly to the joints
+joint_group_vel_controller:
+   type: velocity_controllers/JointGroupVelocityController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint

config/ur5_controllers.yaml

@@ -86,3 +86,13 @@ vel_based_pos_traj_controller:
    # action_monitor_rate: 20 # Defaults to 20
    #hold_trajectory_duration: 0 # Defaults to 0.5
 
+# Pass an array of joint velocities directly to the joints
+joint_group_vel_controller:
+   type: velocity_controllers/JointGroupVelocityController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint

launch/ur10_ros_control.launch

@@ -44,7 +44,7 @@
 
   <!-- load other controller --> 
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load pos_based_pos_traj_controller" /> 
+    output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

launch/ur3_ros_control.launch

@@ -44,7 +44,7 @@
 
   <!-- load other controller -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load pos_based_pos_traj_controller" />
+    output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

launch/ur5_ros_control.launch

@@ -44,7 +44,7 @@
 
   <!-- load other controller --> 
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load pos_based_pos_traj_controller" /> 
+    output="screen" args="load pos_based_pos_traj_controller joint_group_vel_controller" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

package.xml

@@ -34,6 +34,7 @@
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>velocity_controllers</exec_depend>
 
   <test_depend>rosunit</test_depend>
 </package>